Mitsubishi Electronics Q172HCPU, Q173HCPU Fig.6.10 Maximum arc, 6 POSITIONING CONTROL, Fig.6.11 Circular interpolation control using incremental data method

6 POSITIONING CONTROL

(3)The setting range of the end point address and auxiliary point address is (-231) to (231-1).

(4)The maximum arc radius is 232-1.

232-1

Maximum arc

0
-231		231-1
	Radius R
Arc central point

Fig.6.10 Maximum arc

Control using INC (Incremental data method)

(1)Circular interpolation from the current stop address through the specified auxiliary point address to the end point address is executed.

(2)The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the auxiliary point address, and the auxiliary point address to the end point address.

Forward				Positioning speed
direction
								End point
				Y1
				Y2			X1
	Travel		Travel
	value to						Auxiliary point
	end point value to
			auxiliary				Arc central point
			point				X2
	Reverse	Start point
	direction					Travel value to auxiliary
						point
					Travel value to end point				Forward direction
Home
								(Note)	: Indicates setting data
position

Fig.6.11 Circular interpolation control using incremental data method

(3)The setting range for the travel value to the end point address and auxiliary point address is 0 to (231-1).

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